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I do not see any other way if you are using out of the box UI. You probably can build your own plugin to override the workflow. Without any customization, you will have to first click on "Ready for review" then "Approve Entire approval sequence" and then "Publish changes". Which i believe you are already doing. Please note, if you are admin, you need to click thrice but all the steps are available in same panel.
~ Sujit
We have a standard workflow set up where there are two groups, WebEditors and WebAdmins. The workflow looks like this (see below). Is there a way for the WebAdmins to just publish their own content without going through the workflow? Maybe through code revisions? There doesn't seem like a way in the interface.
Currently I have to, click Ready to Review. click Approve Content, then click Publish Changes.